<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Aria: triangleDriveToActionExample.cpp</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Aria
   &#160;<span id="projectnumber">2.9.1</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li><a href="modules.html"><span>Modules</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li><a href="files.html"><span>Files</span></a></li>
      <li><a href="examples.html"><span>Examples</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('triangleDriveToActionExample_8cpp-example.html','');});
</script>
<div id="doc-content">
<div class="header">
  <div class="headertitle">
<div class="title">triangleDriveToActionExample.cpp</div>  </div>
</div><!--header-->
<div class="contents">
<p>Example/demonstration of <a class="el" href="classArActionTriangleDriveTo.html" title="Action to drive up to a triangle target (e.g. docking station) found from an ArLineFinder. ">ArActionTriangleDriveTo</a>, which drives the robot towards a specially shaped triangular target. The triangular target by default is a convex triangle target consisting of two lines of at least 250mm each meeting at a 135 degree angle. See the documentation for <a class="el" href="classArActionTriangleDriveTo.html" title="Action to drive up to a triangle target (e.g. docking station) found from an ArLineFinder. ">ArActionTriangleDriveTo</a> for more information about the triangle locating and approach behavior, and how to customize it.</p>
<p>Press g or G to use <a class="el" href="classArActionTriangleDriveTo.html" title="Action to drive up to a triangle target (e.g. docking station) found from an ArLineFinder. ">ArActionTriangleDriveTo</a> to detect and drive towards a triangular target shape. Press s or S to stop. See <a class="el" href="classArActionTriangleDriveTo.html" title="Action to drive up to a triangle target (e.g. docking station) found from an ArLineFinder. ">ArActionTriangleDriveTo</a> for more information about the triangular target and what the action does and its parameters.</p>
<div class="fragment"><div class="line"></div><div class="line"><span class="preprocessor">#include &quot;Aria.h&quot;</span></div><div class="line"></div><div class="line"></div><div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div><div class="line">{</div><div class="line">  <a name="a0"></a><a class="code" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73">Aria::init</a>();</div><div class="line">  <a name="_a1"></a><a class="code" href="classArRobot.html">ArRobot</a> robot;</div><div class="line">  <a name="_a2"></a><a class="code" href="classArArgumentParser.html">ArArgumentParser</a> parser(&amp;argc, argv);</div><div class="line">  parser.<a name="a3"></a><a class="code" href="classArArgumentParser.html#a501694b62a7f8b0c3cadd84aeafe1b35">loadDefaultArguments</a>();</div><div class="line">  <a name="_a4"></a><a class="code" href="classArRobotConnector.html">ArRobotConnector</a> robotConnector(&amp;parser, &amp;robot);</div><div class="line">  <a name="_a5"></a><a class="code" href="classArLaserConnector.html">ArLaserConnector</a> laserConnector(&amp;parser, &amp;robot, &amp;robotConnector);</div><div class="line"></div><div class="line">  <span class="comment">// Connect to the robot, get some initial data from it such as type and name,</span></div><div class="line">  <span class="comment">// and then load parameter files for this robot.</span></div><div class="line">  <span class="keywordflow">if</span>(!robotConnector.<a name="a6"></a><a class="code" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d">connectRobot</a>())</div><div class="line">  {</div><div class="line">    <a name="a7"></a><a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a8"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;triangleDriveToActionExample: Could not connect to the robot.&quot;</span>);</div><div class="line">    <span class="keywordflow">if</span>(parser.<a name="a9"></a><a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">    {</div><div class="line">        <span class="comment">// -help not given</span></div><div class="line">        <a name="a10"></a><a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">        <a name="a11"></a><a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">    }</div><div class="line">  }</div><div class="line"></div><div class="line">  <span class="keywordflow">if</span> (!<a name="a12"></a><a class="code" href="classAria.html#a1b090c01d88bb420b8cf8e0384d25ee1">Aria::parseArgs</a>() || !parser.<a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">  }</div><div class="line"></div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a13"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;triangleDriveToActionExample: Connected to robot.&quot;</span>);</div><div class="line"></div><div class="line"></div><div class="line">  <span class="keywordflow">if</span>(!laserConnector.<a name="a14"></a><a class="code" href="classArLaserConnector.html#ab97ce6a5fedebf44526773bc674b970e">connectLasers</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;triangleDriveToActionExample: Could not connect to laser(s).  Exiting.&quot;</span>);</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(3);</div><div class="line">    <span class="keywordflow">return</span> 3;</div><div class="line">  }</div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;Connected to laser.&quot;</span>);</div><div class="line"></div><div class="line">  <a name="_a15"></a><a class="code" href="classArKeyHandler.html">ArKeyHandler</a> keyHandler;</div><div class="line">  <a name="a16"></a><a class="code" href="classAria.html#a9e5496a4ec2c379c8e18706922b57cc1">Aria::setKeyHandler</a>(&amp;keyHandler);</div><div class="line">  robot.<a name="a17"></a><a class="code" href="classArRobot.html#ab4ea516667d2358f35b435d97b616ab1">attachKeyHandler</a>(&amp;keyHandler);</div><div class="line"></div><div class="line">  </div><div class="line">  <a name="_a18"></a><a class="code" href="classArActionTriangleDriveTo.html">ArActionTriangleDriveTo</a> triangleDriveTo;</div><div class="line">  <a name="_a19"></a><a class="code" href="classArFunctorC.html">ArFunctorC&lt;ArActionTriangleDriveTo&gt;</a> lineGoCB(&amp;triangleDriveTo, </div><div class="line">                      &amp;ArActionTriangleDriveTo::activate);</div><div class="line">  keyHandler.<a name="a20"></a><a class="code" href="classArKeyHandler.html#ad5442ebb21cd242ab168e94686e06759">addKeyHandler</a>(<span class="charliteral">&#39;g&#39;</span>, &amp;lineGoCB);</div><div class="line">  keyHandler.<a class="code" href="classArKeyHandler.html#ad5442ebb21cd242ab168e94686e06759">addKeyHandler</a>(<span class="charliteral">&#39;G&#39;</span>, &amp;lineGoCB);</div><div class="line">  <a class="code" href="classArFunctorC.html">ArFunctorC&lt;ArActionTriangleDriveTo&gt;</a> lineStopCB(&amp;triangleDriveTo, </div><div class="line">                    &amp;ArActionTriangleDriveTo::deactivate);</div><div class="line">  keyHandler.<a class="code" href="classArKeyHandler.html#ad5442ebb21cd242ab168e94686e06759">addKeyHandler</a>(<span class="charliteral">&#39;s&#39;</span>, &amp;lineStopCB);</div><div class="line">  keyHandler.<a class="code" href="classArKeyHandler.html#ad5442ebb21cd242ab168e94686e06759">addKeyHandler</a>(<span class="charliteral">&#39;S&#39;</span>, &amp;lineStopCB);</div><div class="line"></div><div class="line">  <a name="_a21"></a><a class="code" href="classArActionLimiterForwards.html">ArActionLimiterForwards</a> limiter(<span class="stringliteral">&quot;limiter&quot;</span>, 150, 0, 0, 1.3);</div><div class="line">  robot.<a name="a22"></a><a class="code" href="group__easy.html#ga9ab030786d423237d3e4aa06c0e9d8ce">addAction</a>(&amp;limiter, 70);</div><div class="line">  <a name="_a23"></a><a class="code" href="classArActionLimiterBackwards.html">ArActionLimiterBackwards</a> limiterBackwards;</div><div class="line">  robot.<a class="code" href="group__easy.html#ga9ab030786d423237d3e4aa06c0e9d8ce">addAction</a>(&amp;limiterBackwards, 69);</div><div class="line"></div><div class="line">  robot.<a class="code" href="group__easy.html#ga9ab030786d423237d3e4aa06c0e9d8ce">addAction</a>(&amp;triangleDriveTo, 60);</div><div class="line"></div><div class="line">  <a name="_a24"></a><a class="code" href="classArActionKeydrive.html">ArActionKeydrive</a> keydrive;</div><div class="line">  robot.<a class="code" href="group__easy.html#ga9ab030786d423237d3e4aa06c0e9d8ce">addAction</a>(&amp;keydrive, 55);</div><div class="line"></div><div class="line"></div><div class="line">  <a name="_a25"></a><a class="code" href="classArActionStop.html">ArActionStop</a> stopAction;</div><div class="line">  robot.<a class="code" href="group__easy.html#ga9ab030786d423237d3e4aa06c0e9d8ce">addAction</a>(&amp;stopAction, 50);</div><div class="line">  </div><div class="line">  robot.<a name="a26"></a><a class="code" href="classArRobot.html#aceef80a6274fb34aafcc422e4b1778c1">comInt</a>(<a name="a27"></a><a class="code" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a891b21e6cabc8a2296c8bceca20be779">ArCommands::SONAR</a>, 1);</div><div class="line">  robot.<a class="code" href="classArRobot.html#aceef80a6274fb34aafcc422e4b1778c1">comInt</a>(<a name="a28"></a><a class="code" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aa8d799cced5def80525936119963aad4">ArCommands::ENABLE</a>, 1);</div><div class="line">  </div><div class="line">  <span class="comment">// start the robot running, true so that if we lose connection the run stops</span></div><div class="line">  robot.<a name="a29"></a><a class="code" href="classArRobot.html#a3c3d878cfd11a2ef91230005a83bfcaa">runAsync</a>(<span class="keyword">true</span>);</div><div class="line"></div><div class="line"></div><div class="line">  printf(<span class="stringliteral">&quot;press the &#39;g&#39; key to locate a triangle shape, press &#39;s&#39; to stop teh robot.\n&quot;</span>);</div><div class="line"></div><div class="line">  robot.<a name="a30"></a><a class="code" href="group__easy.html#ga95201be7c39b521983b51e6f5d9303e4">waitForRunExit</a>();</div><div class="line">  <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(0);</div><div class="line">  <span class="keywordflow">return</span> 0;</div><div class="line">}</div><div class="line"></div><div class="line"></div><div class="line"></div></div><!-- fragment --> </div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
